Anisotropic GPMP2: a fast continuous-time Gaussian processes based motion planner for unmanned surface vehicles in environments with ocean currents

Meng, Jiawei, Liu, Yuanchang, Bucknall, Richard, Guo, Weihong and Ji, Ze ORCID: https://orcid.org/0000-0002-8968-9902 2022. Anisotropic GPMP2: a fast continuous-time Gaussian processes based motion planner for unmanned surface vehicles in environments with ocean currents. IEEE Transactions on Automation Science and Engineering 19 (4) , pp. 3914-3931. 10.1109/TASE.2021.3139163

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Abstract

In the past decade, there is an increasing interest in the deployment of unmanned surface vehicles (USVs) for undertaking ocean missions in dynamic, complex maritime environments. The success of these missions largely relies on motion planning algorithms that can generate optimal navigational trajectories to guide a USV. Apart from minimising the distance of a path, when deployed a USVs' motion planning algorithms also need to consider other constraints such as energy consumption, the affected of ocean currents as well as the fast collision avoidance capability. In this paper, we propose a new algorithm named anisotropic GPMP2 to revolutionise motion planning for USVs based upon the fundamentals of GP (Gaussian process) motion planning (GPMP, or its updated version GPMP2). Firstly, we integrated the anisotropy into GPMP2 to make the generated trajectories follow ocean currents where necessary to reduce energy consumption on resisting ocean currents. Secondly, to further improve the computational speed and trajectory quality, a dynamic fast GP interpolation is integrated in the algorithm. Finally, the new algorithm has been validated on a WAM-V 20 USV in a ROS environment to show the practicability of anisotropic GPMP2.

Item Type:	Article
Date Type:	Publication
Status:	Published
Schools:	Engineering
Publisher:	Institute of Electrical and Electronics Engineers
ISSN:	1545-5955
Date of First Compliant Deposit:	10 January 2022
Date of Acceptance:	24 December 2021
Last Modified:	06 Nov 2023 20:35
URI:	https://orca.cardiff.ac.uk/id/eprint/146497

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